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148 lines
8.4 KiB
148 lines
8.4 KiB
Cascade Classifier {#tutorial_cascade_classifier} |
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================== |
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@tableofcontents |
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@prev_tutorial{tutorial_optical_flow} |
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@next_tutorial{tutorial_traincascade} |
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| Original author | Ana Huamán | |
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| Compatibility | OpenCV >= 3.0 | |
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Goal |
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---- |
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In this tutorial, |
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- We will learn how the Haar cascade object detection works. |
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- We will see the basics of face detection and eye detection using the Haar Feature-based Cascade Classifiers |
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- We will use the @ref cv::CascadeClassifier class to detect objects in a video stream. Particularly, we |
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will use the functions: |
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- @ref cv::CascadeClassifier::load to load a .xml classifier file. It can be either a Haar or a LBP classifier |
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- @ref cv::CascadeClassifier::detectMultiScale to perform the detection. |
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Theory |
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------ |
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Object Detection using Haar feature-based cascade classifiers is an effective object detection |
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method proposed by Paul Viola and Michael Jones in their paper, "Rapid Object Detection using a |
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Boosted Cascade of Simple Features" in 2001. It is a machine learning based approach where a cascade |
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function is trained from a lot of positive and negative images. It is then used to detect objects in |
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other images. |
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Here we will work with face detection. Initially, the algorithm needs a lot of positive images |
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(images of faces) and negative images (images without faces) to train the classifier. Then we need |
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to extract features from it. For this, Haar features shown in the below image are used. They are just |
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like our convolutional kernel. Each feature is a single value obtained by subtracting sum of pixels |
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under the white rectangle from sum of pixels under the black rectangle. |
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Now, all possible sizes and locations of each kernel are used to calculate lots of features. (Just |
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imagine how much computation it needs? Even a 24x24 window results over 160000 features). For each |
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feature calculation, we need to find the sum of the pixels under white and black rectangles. To solve |
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this, they introduced the integral image. However large your image, it reduces the calculations for a |
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given pixel to an operation involving just four pixels. Nice, isn't it? It makes things super-fast. |
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But among all these features we calculated, most of them are irrelevant. For example, consider the |
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image below. The top row shows two good features. The first feature selected seems to focus on the |
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property that the region of the eyes is often darker than the region of the nose and cheeks. The |
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second feature selected relies on the property that the eyes are darker than the bridge of the nose. |
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But the same windows applied to cheeks or any other place is irrelevant. So how do we select the |
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best features out of 160000+ features? It is achieved by **Adaboost**. |
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For this, we apply each and every feature on all the training images. For each feature, it finds the |
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best threshold which will classify the faces to positive and negative. Obviously, there will be |
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errors or misclassifications. We select the features with minimum error rate, which means they are |
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the features that most accurately classify the face and non-face images. (The process is not as simple as |
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this. Each image is given an equal weight in the beginning. After each classification, weights of |
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misclassified images are increased. Then the same process is done. New error rates are calculated. |
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Also new weights. The process is continued until the required accuracy or error rate is achieved or |
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the required number of features are found). |
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The final classifier is a weighted sum of these weak classifiers. It is called weak because it alone |
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can't classify the image, but together with others forms a strong classifier. The paper says even |
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200 features provide detection with 95% accuracy. Their final setup had around 6000 features. |
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(Imagine a reduction from 160000+ features to 6000 features. That is a big gain). |
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So now you take an image. Take each 24x24 window. Apply 6000 features to it. Check if it is face or |
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not. Wow.. Isn't it a little inefficient and time consuming? Yes, it is. The authors have a good |
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solution for that. |
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In an image, most of the image is non-face region. So it is a better idea to have a simple |
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method to check if a window is not a face region. If it is not, discard it in a single shot, and don't |
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process it again. Instead, focus on regions where there can be a face. This way, we spend more time |
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checking possible face regions. |
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For this they introduced the concept of **Cascade of Classifiers**. Instead of applying all 6000 |
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features on a window, the features are grouped into different stages of classifiers and applied one-by-one. |
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(Normally the first few stages will contain very many fewer features). If a window fails the first |
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stage, discard it. We don't consider the remaining features on it. If it passes, apply the second stage |
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of features and continue the process. The window which passes all stages is a face region. How is |
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that plan! |
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The authors' detector had 6000+ features with 38 stages with 1, 10, 25, 25 and 50 features in the first five |
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stages. (The two features in the above image are actually obtained as the best two features from |
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Adaboost). According to the authors, on average 10 features out of 6000+ are evaluated per |
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sub-window. |
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So this is a simple intuitive explanation of how Viola-Jones face detection works. Read the paper for |
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more details or check out the references in the Additional Resources section. |
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Haar-cascade Detection in OpenCV |
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OpenCV provides a training method (see @ref tutorial_traincascade) or pretrained models, that can be read using the @ref cv::CascadeClassifier::load method. |
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The pretrained models are located in the data folder in the OpenCV installation or can be found [here](https://github.com/opencv/opencv/tree/master/data). |
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The following code example will use pretrained Haar cascade models to detect faces and eyes in an image. |
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First, a @ref cv::CascadeClassifier is created and the necessary XML file is loaded using the @ref cv::CascadeClassifier::load method. |
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Afterwards, the detection is done using the @ref cv::CascadeClassifier::detectMultiScale method, which returns boundary rectangles for the detected faces or eyes. |
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@add_toggle_cpp |
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This tutorial code's is shown lines below. You can also download it from |
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[here](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/objectDetection/objectDetection.cpp) |
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@include samples/cpp/tutorial_code/objectDetection/objectDetection.cpp |
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@end_toggle |
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@add_toggle_java |
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This tutorial code's is shown lines below. You can also download it from |
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[here](https://github.com/opencv/opencv/tree/master/samples/java/tutorial_code/objectDetection/cascade_classifier/ObjectDetectionDemo.java) |
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@include samples/java/tutorial_code/objectDetection/cascade_classifier/ObjectDetectionDemo.java |
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@end_toggle |
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@add_toggle_python |
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This tutorial code's is shown lines below. You can also download it from |
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[here](https://github.com/opencv/opencv/tree/master/samples/python/tutorial_code/objectDetection/cascade_classifier/objectDetection.py) |
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@include samples/python/tutorial_code/objectDetection/cascade_classifier/objectDetection.py |
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@end_toggle |
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Result |
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------ |
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-# Here is the result of running the code above and using as input the video stream of a built-in |
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webcam: |
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Be sure the program will find the path of files *haarcascade_frontalface_alt.xml* and |
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*haarcascade_eye_tree_eyeglasses.xml*. They are located in |
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*opencv/data/haarcascades* |
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-# This is the result of using the file *lbpcascade_frontalface.xml* (LBP trained) for the face |
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detection. For the eyes we keep using the file used in the tutorial. |
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Additional Resources |
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-------------------- |
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-# Paul Viola and Michael J. Jones. Robust real-time face detection. International Journal of Computer Vision, 57(2):137–154, 2004. @cite Viola04 |
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-# Rainer Lienhart and Jochen Maydt. An extended set of haar-like features for rapid object detection. In Image Processing. 2002. Proceedings. 2002 International Conference on, volume 1, pages I–900. IEEE, 2002. @cite Lienhart02 |
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-# Video Lecture on [Face Detection and Tracking](https://www.youtube.com/watch?v=WfdYYNamHZ8) |
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-# An interesting interview regarding Face Detection by [Adam |
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Harvey](https://web.archive.org/web/20171204220159/http://www.makematics.com/research/viola-jones/) |
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-# [OpenCV Face Detection: Visualized](https://vimeo.com/12774628) on Vimeo by Adam Harvey
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